From a260650e2f0991578c1b5747b9f712c3a5936254 Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti <102977828+flferretti@users.noreply.github.com> Date: Wed, 5 Jun 2024 11:07:08 +0200 Subject: [PATCH] Fix `jaxlie` error in `math.joint_model.supported_joint_motion` The method `jaxlie.SE3.from_translation` doesn't actually exists --- src/jaxsim/math/joint_model.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/jaxsim/math/joint_model.py b/src/jaxsim/math/joint_model.py index 106409b8..a641fa7c 100644 --- a/src/jaxsim/math/joint_model.py +++ b/src/jaxsim/math/joint_model.py @@ -267,7 +267,10 @@ def compute_P() -> tuple[jtp.Matrix, jtp.Array]: # This is a metadata required by only some joint types. axis = jnp.array(joint_axis).astype(float).squeeze() - pre_H_suc = jaxlie.SE3.from_translation(translation=jnp.array(s * axis)) + pre_H_suc = jaxlie.SE3.from_rotation_and_translation( + rotation=jaxlie.SO3.identity(), + translation=jnp.array(s * axis), + ) S = jnp.vstack(jnp.hstack([axis, jnp.zeros(3)]))